JPH05326312A - Automatic coil winding machine - Google Patents

Abstract

PURPOSE:To design a more logical and reasonable configuration of an automatic winding machine for coils by moving a turret, which supports a bobbin and provides a Ti rotary shaft, in a dimensional direction to be rotated and positioning the turret at a specified rotary position. CONSTITUTION:A turret support base 2 moves on a base 1 in three-dimensional direction arbitrarily by a transfer device which comprises servo motors 6, 8 and 10. The turret support base 2 provides a direct drive type servo motor 13 as a rotary means and a positioning means of a turret 12. A wire supply unit 50 supplies wires to a nozzle 4. A dummy tie-up pin 21 is forced to move by driving the servo motor 6 which moves horizontally, the servo motor 8 which moves vertically and the servo motor 10 which moves in both right and left directions so that the intermediate portion of the wire which leads to the dummy tie-up pin 21 from the nozzle 41 at the fixed position is tied up with a terminal of the bobbin 14 on one side. This construction makes it possible to tie-up without using any chuckle and hence enhance the efficiency of coil manufacturing work.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic winding machine for automatically winding a coil.

[0002]

2. Description of the Related Art A coil winding operation requires a winding operation for winding a wire on a bobbin together with winding a wire on a terminal provided on the bobbin at the beginning and end of the winding. For this reason, in a conventional winding machine that automatically performs a winding operation, for example, a nozzle for supplying a wire rod moves around a terminal of a bobbin supported at a fixed position to bind the wire rod to the terminal.

[0003]

Generally, since the nozzle is lighter than the bobbin, when the work is limited to the winding work, the structure in which the bobbin is supported at a fixed position and the nozzle is moved is rather than fixing the nozzle and moving the bobbin. Is also rational.

However, when the coil manufacturing work is to be automated including processes other than winding, such as soldering after winding, taping, terminal cutting, inspection, coil ejection or inserting the spindle into the bobbin before winding. It is advantageous to fix each working unit so that the bobbin moves between these units.

Therefore, for example, Japanese Patent Application Laid-Open No. 2-18915 proposes a coil winding machine in which a nozzle for supplying a wire is fixed and a bobbin is moved in a three-dimensional direction to perform winding work. According to this winding machine, the bobbin that has completed the winding work can be sequentially moved to another work unit, and the processing of each step required for coil production can be performed in a flowable manner.

However, in the case of this winding machine, the bobbin is supported in one direction, and the bobbin cannot be tilted. Generally, this type of winding machine can handle multiple types of bobbins, but the terminals of the bobbin do not necessarily have the same protruding direction depending on the type of bobbin.
If the bobbin supporting direction is fixed to the terminals with different projecting directions, various operations such as entanglement work of the wire on the bobbin terminal and soldering to the terminal after winding may occur. ..

Further, in this winding machine, the operation of entwining the wire rod around the bobbin terminal is performed by moving the bobbin with respect to the fixed nozzle, and the wire rod required at that time is gripped on the bobbin side and the nozzle side. This is done by chucks provided on both sides. Each of these chucks has its own drive mechanism.

However, it is unavoidable that the structure of the apparatus becomes complicated by providing the chucks on both the bobbin and the nozzle.

In particular, since the chuck on the bobbin always moves together with the bobbin, the chuck is a hindrance to the work in a winding work other than the entwining operation or taping such as winding a tape on the winding. It is necessary to retract the chuck out of the working range so that it does not occur. For this reason, the chuck on the bobbin side needs to be provided with a complicated drive mechanism that covers both the wire entwining operation and the retracting operation.

The present invention has been made to solve the above problems, and an object thereof is to provide an automatic coil winding machine having a more rational device structure.

[0011]

According to the present invention, there is provided a turret having a rotating shaft for supporting and rotating a bobbin, a moving device for moving the turret in three dimensions, a means for rotating the turret, and a turret. It is provided with a means for positioning at a predetermined rotation position and a wire rod supply nozzle supported at the predetermined position.

Further, the rotating means and the positioning means of the turret are composed of a motor and an intermittent indexing mechanism, respectively.

Alternatively, the rotating means and the positioning means of the turret are constituted by a servo motor having a speed reducing mechanism.

Alternatively, the rotating means and the positioning means of the turret are constituted by a direct drive motor.

Further, it is provided with a throw-away binding pin which is supported so as to be freely displaceable in the three-dimensional direction, and a detachable connecting mechanism for integrally connecting the turret and the throw-away binding pin.

[0016]

When the turret is rotationally displaced by the rotating and positioning means, the rotary shaft tilts. Thereby, the supporting direction of the bobbin can be changed according to the protruding direction of the terminal. The positioning means positions the turret at a predetermined rotational position to facilitate control of the bobbin supporting direction.

Further, by using the direct drive motor as the rotating means and the positioning means of the turret, the supporting direction of the bobbin can be controlled with high accuracy.

The discarding entanglement pin is connected to the turret in a state where the wire rod supplied from the nozzle is entangled, and the moving device moves the turret along a predetermined circular orbit to remove the wire rod from the nozzle to the discarding entanglement pin. The middle part is entwined with the terminal of the bobbin supported by the turret. Also, by moving the turret and the throw-away pin along the predetermined circular path with the wire supplied from the nozzle entwined with the bobbin terminal, the intermediate part of the wire from the nozzle to the bobbin terminal is entangled. It's tied to a pin.

Further, the turret can be moved independently by releasing the binding mechanism by releasing the coupling mechanism.

[0020]

1 to 12 show an embodiment of the present invention.

As shown in FIG. 1, the coil manufacturing robot includes a turret support base 2 supported by a base 1.

The turret support base 2 is supported by the base 1 via blocks 3 and 4. The base 1 is provided with a ball screw 5 horizontally in the front-rear direction, and a front-back servomotor 6 for rotating the ball screw 5 is provided. The block 3 is screwed onto the ball screw 5 and moved in the front-rear direction by the operation of the front-rear movement servomotor 6.

The block 3 is provided with a ball screw 7 vertically and is provided with a vertical movement servomotor 8 for rotating the ball screw 7. The block 4 is screwed onto the ball screw 7 and moved in the vertical direction by the operation of the vertical movement servomotor 8.

A ball screw 9 is horizontally arranged in the block 4 in the transverse direction of the base 1, and a horizontal servomotor 10 for rotating the ball screw 9 is provided in the block 4. The turret support base 2 is screwed onto a ball screw 9 to move the left-right servomotor 10
It moves in the transverse direction of the base 1 by driving.

In this way, the servomotors 6, 8, 1
The turret support base 2 is a base 1 by a moving device consisting of 0
Arbitrarily move up in the three-dimensional direction.

A turret 12 is rotatably supported on the turret support base 2 about a horizontal axis parallel to the ball screw 9. Further, a direct drive type servo motor 13 is provided on the turret support base 2 as a rotating means and a positioning means of the turret 12.

The turret 12 has a plurality of spindles 15 arranged in parallel as a rotating shaft of the bobbin 14. Although only two spindles 15 are shown in the drawing, the number of spindles 15 can be arbitrarily increased according to the size setting of the turret 12. These spindles 15 rotate the bobbin 14 according to the operation of the spindle rotation motor 16 housed in the turret 12.

On the turret support base 2, a strip-shaped connecting plate 17 having a connecting hole 17a is provided so as to project in the horizontal direction.

On the other hand, a wire holder 20 as shown in FIG. 2 is provided at a position near the end of the base 1.

The wire holder 20 includes a throw-away pin support base 22 for supporting the same number of the throw-away bind pins 21 as the spindle 15 in parallel, and the throw-away bind pin support base 22 can be freely rotated in the front-rear direction via a horizontal rotation shaft. And a holder 23 for supporting.

The throw-away binding pin 21 is a rod-shaped main body 21a.
And a large-diameter portion 21b whose diameter is enlarged in a tapered shape so as to fit on the outer periphery of the main body portion 21a. The large-diameter portion 21b is elastically supported by an intermediate portion of the main body portion 21a by a spring (not shown) and slides along the main body portion 21a according to the load of external force.

The discard trapping pin 21 is supported by the holder 23 so as to be displaceable in the transverse direction of the base 1 together with the discard trapping pin support base 22 by driving the discard trapping pin moving cylinder 24.
Due to this displacement, the wire rod stretched between the terminal 14a of the bobbin 14 and the discarding binding pin 21 is cut.

The holder 23 has a rotary actuator 25 for rotationally displacing the throwing pin support base 22 in the longitudinal direction.
Will be housed. In addition, a wire discharge plate 26 having a plurality of corrugated grooves formed therein is supported by the holder 23 via a wire discharge cylinder 27 as a mechanism for removing the wire material entwined with the throw-out tie pin 21.

As a result, as shown in FIG. 3, the waste wire trapping pin support 22 is rotated forward to support the waste wire trapping pin 21 inside the groove of the wire discharge plate 26, and the wire discharge cylinder 2
When 7 is driven to be extended, the discharge wire plate 26 drives the large-diameter portion 21b of the discarding entanglement pin 21 in the distal direction to remove the entanglement line entwined with the main body portion 21a.

The holder 23 is slidably supported in a predetermined range in the front-rear direction, the up-down direction, and the left-right direction with respect to the base 1 via the front-rear movement cylinder 28, the up-down movement cylinder 29, and the left-right movement cylinder 30.

A connecting plate guide 31 is fixed to the holder 23. The connecting plate guide 31 is used for the turret support base 2
As they move forward, the connecting plate 17 protruding from the turret support 2 is slidably penetrated inward. A connecting cylinder 32 is attached to the connecting plate guide 31. The connecting cylinder 32 constitutes a connecting mechanism of the turret 12 and the throwing-out entanglement pin 21 together with the connecting plate 17, and the connecting plate 17 is inserted into the connecting hole 17a of the connecting plate 17 so that the connecting plate 17 is connected to the connecting plate. The guide 31 and the connecting plate 17 are rigidly connected, and the connection is released by retracting the tip from the connecting hole 17a.

A nozzle unit 40 is provided above the wire holder 20. The nozzle unit 40 supports a nozzle bar 42, in which the same number of nozzles 41 as the spindles 15 for supplying the wire are fixed, through a holder 43, a fixing cylinder 44, and a rotary actuator 45, to a stand 46 fixed in the base 1. It was done.

The holder 43 is a rotary actuator 45.
12 is rotatably supported by a stand 46 with a horizontal axis as a fulcrum, and the fixing cylinder 44 is connected to a tightening member 47A housed inside a holder 43 as shown in FIG. The nozzle bar 42 is locked to the holder 43 by sandwiching the base end of the nozzle bar 42 between the fastening members 47B housed in the holder 43 in the opposite direction.

A wire rod is supplied to the nozzle 41 from a wire rod supply unit 50 which is erected on the floor independently of the base 1.
The wire rod supply unit 50 includes a bobbin 51 around which the wire rod is wound and a tensioner 52 that applies a predetermined tension to the wire rod supplied to the nozzle 41.

A solder unit 60 is provided on the base 1 at a position distant from the wire holder 20, and a cutting unit 70, an inspection unit 80, and a taping unit 9 are further provided.
0 is sequentially provided toward the end opposite to the wire holder 20.

As shown in FIG. 4, the solder unit 60 comprises a solder bath 61 for infiltrating the terminal 14a in which the winding start and end of the bobbin 14 are entwined, and a reflow bath 62 for storing the solder solution overflowing from the solder bath 61. Prepare

The cutting unit 70 is provided with the same number of air nippers 71 as the spindles 15 as shown in FIG. 6 which are arranged facing forward so as to cut the icicle-like solder that hangs from the terminals 14a.

The inspection unit 80 has the same number of terminals 81 as the spindles 15 as shown in FIG. 7 which are electrically connected to the terminals 14a.

As shown in FIG. 9, the taping unit 90 includes a tape reel 91 on which a tape 95 is wound, a chuck 92 for holding the tip of the tape 95 fed from the tape reel 91, and an end of the tape wound on the bobbin 14. And a cutter 93 for cutting. The chuck 92 opens and closes when driven by a chuck cylinder 94, and moves in parallel with the turret 12 when driven by a lateral movement cylinder 96.
Further, the cutter 93 moves up and down by driving the cutter cylinder 97. An adhesive is applied to the surface of the tape 95.

Next, the operation will be described.

The operation of winding the wire around the bobbin 14 in this apparatus will be described in order with reference to FIG. First, Fig. 1
From this state, the longitudinal servomotor 6 is operated to bring the turret support base 2 closer to the wire holder 20, and the connecting plate 17
Are introduced into the guide 31 and joined by the connecting cylinder 32 (FIG. 10a). In this state, the wire rod supplied from the nozzle 41 is entwined with the discard entanglement pin 21. In addition,
By forming a plurality of connecting holes 17a in the connecting plate 17, the distance and relative height between the turret support base 2 and the wire holder 20 in the connected state can be arbitrarily selected. Therefore, it is possible to easily deal with the case where the size of the bobbin 14 to be operated is changed.

Then, the longitudinal servomotor 6, vertical servomotor 8 and lateral servomotor 10 are operated to move the bobbin 14 and the throwing entanglement pin 21 integrally along a circular orbit having an appropriate height. By doing so, the intermediate part of the wire rod from the nozzle 41 at the fixed position to the throw-up entanglement pin 21 is entangled with one terminal 14a of the bobbin 14 (FIG. 10b).

Then, by driving the pin moving cylinder 24, the discarding binding pin 21 is moved in the direction of the arrow in FIG. 10c to cut the wire.

Next, the bobbin 14 is rotated through the spindle 15 by the operation of the spindle rotation motor 16 so that the bobbin 14 reciprocates in the lateral direction, and the wire rod supplied from the nozzle 41 is wound around the bobbin 14.

In parallel with this operation, the rotary actuator 25 is driven to throw the throw-away pin support base 90 forward 90 degrees.
It is rotated once, and the throwing-out binding pin 21 is laid down inside the groove of the discharge wire plate 26. Then, as shown in FIG. 10D, the large diameter portion 21b of the discard entanglement pin 21 is pushed forward by the extension of the exhaust wire cylinder 27 through the exhaust wire plate 26, and the entangled wire entwined with the main body portion 21a is removed. As shown in FIG. 3, a guide 26a is attached to the discharge wire plate 26, and a collecting tank 33 for accumulating the removed entanglement line is opened facing the guide 26a to scatter the removed entanglement line. Can be prevented. After the wire discharging work, the rotary actuator 25 is driven again and the throwing and binding pin support base 22 is rotated to the original position.

When the winding of the wire around the bobbin 14 is completed, the servomotors 6, 8 and 10 are operated to drive the bobbin 14
Is moved along a circular orbit to bind the wire rod supplied from the nozzle 41 to the other terminal 14a of the bobbin 14 (FIG. 10e).

Then, the servomotors 6, 8 and 10 are operated to integrally move the bobbin 14 and the throw-away entanglement pin 21 along the circular orbit, and entangle the wire rod with the throw-away entanglement pin 21 (FIG. 10f).

Then, the throwing entanglement pin moving cylinder 24 moves the entanglement entanglement pin 21 together with the entanglement entanglement pin support 22 to dispose the entanglement entanglement pin 21 and the terminal 14a of the bobbin 14.
The wire is cut between and (Fig. 10g).

Finally, the turret support base 2 and the holder 23
The coil winding work is completed by disconnecting (Fig. 10).
h). In this state, the nozzle 4
The tip of the wire rod supplied from No. 1 is entwined with the discarding entanglement pin 21, and the winding operation for the next bobbin 14 can be restarted at any time.

When winding wire rods having different wire diameters, the wire rods may be exchanged together with the nozzle bar 42 by an exchanging device (not shown) while the turret 12 is moving to another working unit.

When the work of winding the bobbin 14 is completed, the turret support base 2 is moved to the rear solder unit 60, and the servo motor 13 is operated to operate the turret support base 2.
Is rotated 180 degrees, and the bobbin 14 is moved up and down as shown in FIG.
Immerse a into the solder bath 61.

Here, when the bobbin 14 has a terminal 14a protruding in parallel with the spindle 15, the turret 12 is rotated by 90 degrees as shown in FIG.
It suffices to set a downward. Since the turret 12 is arbitrarily rotationally displaced by the operation of the servo motor 13, the bobbin 1
4 can be held at the rotation position most suitable for the processing operation regardless of the protruding direction of the terminal 14a.

Thereafter, the turret support base 2 is moved to the rear cutter unit 70, and excess solder attached to the terminals 14a in an icicle shape is cut off by the air nippers 71 as shown in FIG.

Then, the turret support base 2 is further moved to the rear inspection unit 80, and the terminal 14a is connected to the inspection terminal 81 as shown in FIG.
When the terminal 14a is projected in parallel with the spindle 15, the terminal 81 can be connected to the terminal 14a by supporting the turret support base 2 at the rotation position as shown in FIG.

Finally, the turret support base 2 is moved to the taping unit 90. Here, first, the turret support base 2 is lowered from the position of FIG. 9, the winding portion of the bobbin 14 is pressed against the tape 95, the chuck 92 is released, and the bobbin 14 is rotated by the operation of the spindle rotation motor 16. As a result, the adhesive tape 95 is attached to the bobbin 1.
Since it is wound around the outer circumference of the winding No. 4, the cutter cylinder 97 is driven to raise the cutter 93 and cut the end of the wound tape 95.

The end of the cut tape 95 (on the side of the taping unit 90) is gripped by driving the left and right moving cylinder 96 and the chuck cylinder 94, and is held again at the position shown in FIG.

In this way, since the coil manufacturing process from the winding work to the taping is automatically performed while the turret support base 2 moves on the base 1, the coil can be efficiently manufactured.

If a higher production capacity is required, the number of spindles 15 and the number of processing mechanisms provided in each unit may be increased. Since these are arranged in parallel in the transverse direction of the base 1, they are required by a simple design change in which the turret 12 and each work unit are expanded in the transverse direction of the base 1 without changing the basic configuration. You can get the production capacity.

If a T-shaped groove 18 as shown in FIG. 11 is formed in order to fix each working unit to the base 1, positioning when fixing the working unit becomes easy, and the working unit and its The layout can be changed easily.

Further, it is of course possible that the rotating means of the turret 12 is composed of an ordinary AC motor and the positioning means of the turret 12 is composed of an index drive mechanism.

Alternatively, the turret 12 may be constituted by a servomotor having a speed reduction mechanism as a rotation and positioning means.

[0067]

As described above, since the present invention is provided with the turret rotation and positioning means, the supporting direction of the bobbin can be changed according to the protruding direction of the terminal. Therefore, the bobbin can be tilted, and the efficiency of the coil manufacturing work including the winding is improved.

Further, since the throwing entanglement pin is supported so as to be freely displaceable in the three-dimensional direction and is detachably attached to the turret, the attachment and detachment and the movement of the turret are combined to entangle the wire rod with the bobbin terminal. Can be done without using a chuck.

Further, by separating the throw-away binding pin and moving only the turret, other work such as soldering and taping can be easily performed.

Therefore, the coil can be efficiently manufactured.

[Brief description of drawings]

FIG. 1 is a perspective view of a coil manufacturing robot showing an embodiment of the present invention.

FIG. 2 is an enlarged perspective view of a wire holder.

FIG. 3 is a side view of the throw-away binding pin for explaining the wire discharging operation.

FIG. 4 is an enlarged perspective view of a soldering unit.

FIG. 5 is an enlarged perspective view of a soldering unit for explaining how to deal with bobbins having different terminal projecting directions.

FIG. 6 is an enlarged perspective view of a cutting unit.

FIG. 7 is an enlarged perspective view of the inspection unit.

FIG. 8 is an enlarged perspective view of an inspection unit for explaining how to deal with bobbins having different terminal projecting directions.

FIG. 9 is an enlarged perspective view of the tape unit.

FIG. 10 is a perspective view of a bobbin and a throwing entanglement pin for sequentially explaining a winding process of a coil.

FIG. 11 is a perspective view of a base.

FIG. 12 is a cross-sectional view of a holder that holds a nozzle bar.

[Explanation of symbols]

 6 Back-and-forth servo motor 8 Up-and-down servo motor 10 Left-and-right servo motor 12 Turret 13 Servo motor 14 Bobbin 14a Terminal 21 Discarding pin 41 Nozzle

─────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] October 20, 1992

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be amended] Claims

[Correction method] Change

[Correction content]

[Claims]

[Procedure Amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0011

[Correction method] Change

[Correction content]

[0011]

SUMMARY OF THE INVENTION The present invention supports a bobbin.
Turret with a rotating shaft that rotates
And a means for rotating the turret, a means for positioning the turret at a predetermined rotation position, and a wire rod supply nozzle supported at the predetermined position.

[Procedure 3]

[Document name to be amended] Statement

[Correction target item name] 0015

[Correction method] Change

[Correction content]

Further , the turret is moved in the three-dimensional direction.
Equipped with a moving device. Furthermore, it is provided with a throw-away binding pin that is supported in a three-dimensionally freely displaceable manner, and a detachable connecting mechanism that integrally connects the turret and the throw-away binding pin.

Claims (5)

[Claims] 1. A turret having a rotating shaft for supporting and rotating a bobbin, a moving device for moving the turret in a three-dimensional direction, a means for rotating the turret, and a means for positioning the turret at a predetermined rotation position. An automatic winding machine comprising: a wire rod supply nozzle supported at a predetermined position. 2. The automatic winding machine according to claim 1, wherein the rotating means and the positioning means of the turret are a motor and an intermittent indexing mechanism, respectively. 3. The automatic winding machine according to claim 1, wherein the rotating means and the positioning means of the turret are servomotors having a speed reducing mechanism. 4. The automatic winding machine according to claim 1, wherein the rotating means and the positioning means of the turret are direct drive motors. 5. The automatic winding machine according to claim 1, further comprising: a throw-away binding pin that is supported so as to be freely displaced in a three-dimensional direction, and a detachable connecting mechanism that integrally connects the turret and the throw-away binding pin. ..